CN104378583A - Apparatus and method for composition image for avm system - Google Patents
Apparatus and method for composition image for avm system Download PDFInfo
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- CN104378583A CN104378583A CN201410161536.1A CN201410161536A CN104378583A CN 104378583 A CN104378583 A CN 104378583A CN 201410161536 A CN201410161536 A CN 201410161536A CN 104378583 A CN104378583 A CN 104378583A
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- 238000000034 method Methods 0.000 title claims description 20
- 239000000203 mixture Substances 0.000 title description 3
- 230000005055 memory storage Effects 0.000 claims description 45
- 238000013329 compounding Methods 0.000 claims description 21
- 230000002194 synthesizing effect Effects 0.000 claims description 15
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000001308 synthesis method Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 2
- 239000002131 composite material Substances 0.000 abstract 4
- 238000013507 mapping Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 241000282693 Cercopithecidae Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
- G09G5/14—Display of multiple viewports
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
- G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
- G09G5/39—Control of the bit-mapped memory
- G09G5/393—Arrangements for updating the contents of the bit-mapped memory
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/1423—Digital output to display device ; Cooperation and interconnection of the display device with other functional units controlling a plurality of local displays, e.g. CRT and flat panel display
- G06F3/1446—Digital output to display device ; Cooperation and interconnection of the display device with other functional units controlling a plurality of local displays, e.g. CRT and flat panel display display composed of modules, e.g. video walls
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2370/00—Aspects of data communication
- G09G2370/20—Details of the management of multiple sources of image data
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2380/00—Specific applications
- G09G2380/10—Automotive applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/44—Receiver circuitry for the reception of television signals according to analogue transmission standards
- H04N5/445—Receiver circuitry for the reception of television signals according to analogue transmission standards for displaying additional information
- H04N5/45—Picture in picture, e.g. displaying simultaneously another television channel in a region of the screen
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Hardware Design (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Image Processing (AREA)
Abstract
An image composing apparatus includes an image input unit which captures original images using front, rear, left, and right cameras of a vehicle; an external memory which stores the original images, a look up table, and a composite image; an original image window generating unit which sets an MN basic pixel group to analyze a coordinate value based on the look up table and calculates a starting coordinate and a window size of the window in accordance with the coordinate value; an internal memory control unit which reads the original images in accordance with the starting coordinate and the window size to store the original image; an image composing unit which composes the original images read out based on the coordinate value to generate the composite image; and an image output unit which reads the composite image to output the composite image to a display device.
Description
Technical field
The present invention relates to AVM system, more particularly, relating to 4 Image compounding all around of vehicle is image synthesizing device and the method thereof of an image.
Background technology
AVM (panorama monitor-Around View Monitoring) system by vehicle front/rear/left/right 4 camera receives raw video and synthesizes an image, exports the image of synthesis to display unit.
AVM system is saved in external memory storage the raw video that camera inputs, and reads and is generated by Yunnan snub-nosed monkey process and be stored in the question blank of external memory storage, extracts the raw video coordinate figure being used for Image compounding.AVM system carries out bilinear interpolation (Bi-Linear Interpolation) to the raw video data read from external memory storage based on coordinate figure, is again saved in external memory storage as output coordinate.Carry out described process to all around 4 images respectively, AVM system is image output synthesis result data according to described output coordinate.
At this moment, the camera of AVM system is wide-angle camera, there is the spheroidal distortion of class.AVM system, when Image compounding, utilizes reverse (Backward) mapping method etc., according to L-R-previous-next order, distorts image with pixel unit flatly correction.Distortion correction and the raw video data needed for Image compounding processing procedure are read by external memory storage, at this moment use single to read (Single Read) mode.
But high close to frequency to external memory storage of single reading manner, in order to meet the processing speed needed for system, needs higher memory frequency, because having the additional period of carrying out instruction, there is delay time elongated problem.
Summary of the invention
(technical problem that will solve)
The reading manner of external memory storage occurred in distortion correction when the present invention is by changing Image compounding and compose operation process, provides a kind of image synthesizing device for AVM system and the method thereof that improve external memory access efficiency.
(means of dealing with problems)
In order to solve the technical problem, image synthesizing device of the present invention comprises: image input part, intercepts the former imaged image caught from the anterior-posterior-L-R camera of vehicle; External memory storage, preserves the described former imaged image, question blank and the resultant image that intercept; Former imaging window generating unit, the base pixel group of setting M XN, analyzes coordinate figure based on described question blank, the beginning coordinate of calculation window and window size according to described coordinate figure; Internal storage control part, according to described beginning coordinate and described window size, reads described former imaged image by described external memory storage and is saved in internal storage; Image compounding handling part, to the described former imaged image read by described internal storage, is carried out Image compounding based on described coordinate figure and is generated as described resultant image; And image output portion, read described resultant image by described external memory storage and output to display unit.
It is that a group carries out processes pixel that described former imaging window generating unit gathers the base pixel of described M X N.
Described former imaging window generating unit calculates described window size based on described base pixel group.
Described internal storage control part is sent to described Image compounding handling part the described coordinate figure equaling the N number of number of M X.
In order to solve the technical problem, image synthesis method of the present invention, comprising: the step of initialization AVM (panorama monitors-Around View Monitoring) system; All around catching and being saved in the step of external memory storage with 4 former imaged images at vehicle; Based on base pixel group and the question blank of the M X N read by described external memory storage, the beginning coordinate of calculation window and the step of window size; The step described former imaged image of described for correspondence beginning coordinate and described window size being saved in internal storage synthesizes the described former imaged image read by described internal storage, is saved in the step of described external memory storage with resultant image; And described resultant image is outputted to the step of display unit.
The step of described calculating is the window with described base pixel group unit, analyzes coordinate figure, calculate described beginning coordinate and described window size according to described coordinate figure based on the question blank read by described external memory storage.
The described step saving as resultant image, saves as the described coordinate figure equaling the N number of number of M X the coordinate figure of described resultant image.
(effect of invention)
According to image synthesizing device of the present invention and method thereof, with the reading manner that happens suddenly close to external memory storage, thus reduce external memory storage and minimize the image processing delay time close to frequency, have and put forward high performance effect.
Accompanying drawing explanation
Fig. 1 is the block diagram presenting image synthesizing device of the present invention.
Fig. 2 is the flow chart for illustration of image synthesis method of the present invention.
Fig. 3 is the concept map for illustration of base pixel group unit according to an embodiment of the invention.
Fig. 4 is the concept map for illustration of the back mapping utilizing window according to an embodiment of the invention.
Fig. 5 is close to the time diagram of mode for illustration of external memory storage according to an embodiment of the invention.Symbol description
1: image synthesizing device
10: image input part
20: former imaging window generating unit
30: internal storage control part
35: internal storage
40: Image compounding handling part
50: image output portion
60: external memory storage control part
70: external memory storage
Embodiment
For disclosed in this specification according to the embodiment of concept of the present invention, specifically structural or functional description just illustrates according to for the purpose of the embodiment of concept of the present invention to illustrate, embodiment according to concept of the present invention can be implemented with variform, is not limited to the embodiment illustrated in this specification.
Because the embodiment of concept according to the present invention can carry out numerous variations, there is variform, embodiment is illustrated on accompanying drawing, is described in detail in this manual.But be not limited to specifically openly form according to the embodiment of concept of the present invention, comprise all changes in thought of the present invention and technical scope, equipollent and substitute.
The term such as the 1st or the 2nd is used in and multiple inscape is described, but described inscape be not limited to described for.The object of described term is difference inscape and other inscapes, such as, when not departing from the interest field according to concept of the present invention, 1st inscape can called after the 2nd inscape, and similarly, the 2nd inscape also can called after the 1st inscape.
Relate to a certain inscape " be connected " with other inscapes or " connection " time, be interpreted as and be directly connected with other inscapes or connect, or middlely there are other inscapes.On the contrary, relate to a certain inscape " directly connect " or " directly connecting " to other inscapes time, be interpreted as centre and there are not other inscapes.Other performances of the direct relation of inscape are described, namely " ~ between " and " just in time ~ between " or " with ~ adjacent " and " with ~ direct neighbor " etc. also have and explain in the same manner.
Use in this specification for just in order to specific embodiment is described, be not to limit the present invention.If odd number without other clear and definite explanations, then comprises plural number on context.In this specification, " comprising " or the term such as " having " is existence in order to the feature of designated facility, numeral, step, action, inscape, parts or its composition, is not get rid of one or its other above features or numeral, step, action, inscape, the existence of parts or its composition or additional possibility in advance.
Except definition separately, comprise the term of technology or science, what all terms used herein all had with the technical field of the invention that the people of general knowledge generally understands has the identical meaning.General use, the term identical with dictionary definition, consistent with the contextual meaning of correlation technique, except clearly defined in this specification, be not interpreted as the abnormal or excessive formal meaning.
, illustrate according to a preferred embodiment of the invention by referring to accompanying drawing below, thus describe the present invention in detail.
Fig. 1 is the block diagram presenting image synthesizing device of the present invention, and Fig. 3 is the concept map for illustration of base pixel group unit according to an embodiment of the invention, and Fig. 4 is the concept map for illustration of the back mapping utilizing window according to an embodiment of the invention.
With reference to Fig. 1, image synthesizing device 1 comprises: image input part 10, former imaging window generating unit 20, internal storage control part 30, internal storage 35, Image compounding handling part 40, image output portion 50, external memory storage control part 60 and external memory storage 70.Fig. 5 is close to the time diagram of mode for illustration of external memory storage according to an embodiment of the invention.
Image input part 10 intercepts the former imaged image caught by the anterior-posterior-L-R camera of vehicle.
Former imaging window generating unit 20 sets the base pixel group of M X N, analyzes coordinate figure based on described question blank, the beginning coordinate of calculation window and window size according to described coordinate figure.
Further illustrate, former imaging window generating unit 20 sets the base pixel group of the M X N being used for Image compounding process.Traditionally, pixel processing order is, for the whole pel array of image, process under right according to a left side->, upper->, the present invention as illustrated in fig. 3, for M X N base pixel group, process under right with a left side->, upper->.Its result, reduces computation complexity, improves the processing speed of Image compounding.At this moment, M, N are the natural numbers of more than 1.
Former imaging window generating unit 20 reads question blank (Look Up Table from external memory storage 70; LUT) the X-Y coordinate figure being used in back mapping is extracted.The X-Y coordinate that the analysis of former imaging window generating unit 20 is extracted and calculate beginning coordinate and the window size of the window being saved in external memory storage 70.At this moment, the size of window is not specify according to embodiment, and applicable is multiple size.Tradition is, when distorting correction, carry out back mapping with pixel for pixel, therefore computation complexity is high, but the present invention as illustrated in figure 4, carries out back mapping and carry out distortion correction with window-unit, therefore, it is possible to reduce computation complexity.
Former imaging window generating unit 20 informs internal storage control part the beginning coordinate of the window calculated and window size.
Internal storage control part 30 controls the access of internally memory 35.Such as, according to beginning coordinate and the window size of window, read former imaged image from external memory storage 70 and be saved in internal storage.Further, internal storage control part 30 is sent to Image compounding handling part 40 equaling the N number of several lookup table data of M X (that is, X-Y coordinate figure).
Internal storage 35, in order to Image compounding, preserves the former imaged image of the beginning coordinate of corresponding window and the size of window.Internal storage can be volatile memory, such as SRAM (static random access memory-Static Random Access Memory).
Image compounding handling part 40 utilizes the lookup table data equaling the N number of number of M X, carries out Image compounding to the former imaged image read by internal storage 35, thus generates resultant image.Further, resultant image is sent to external memory storage 70.
Image output portion 50 is read resultant image by external memory storage 70 and is outputted to display unit (not shown).
External memory storage control part 60 controls the access of externally memory 70.External memory storage control part 60 has access to external memory storage 70 with the burst reading manner illustrated in Fig. 5.After receiving reading order with reference to Fig. 5, T2, by data line, with a reading order, through T3 to T8, receive most valid data.Its result, compares traditional single reading manner, can reduce the process delay time to reading order, with internal storage share preserve Image compounding time required temporary image memory access operation, thus reduce external memory storage close to frequency.
External memory storage 70 preserves the described former imaged image, question blank and the resultant image that intercept.External memory storage 70 can be nonvolatile memory or volatile memory, such as DRAM (dynamic RAM-Dynamic Random Access Memory).
Fig. 2 is the flow chart for illustration of image synthesis method of the present invention.
With reference to Fig. 2, first initialization AVM (panorama monitors-Around View Monitoring) system (S10).Such as, initialization view (View) pattern input processing number of times.Then, vehicle seizure all around and be saved in external memory storage with 4 former imaged images.
Image synthesizing device 1, by external memory storage, reads base pixel group and the question blank (S11) of M X N.Based on question blank, the beginning coordinate of calculation window and window size (S12).
Image synthesizing device 1 reads the beginning coordinate of corresponding window and the former imaged image (S13) of described window size by external memory storage, is saved in internal storage (S14).Further, synthesize the former imaged image (S15) read by internal storage, with the data of resultant image, be saved in external memory storage (S16).
At this moment, confirm whether resultant image data are base pixel group unit and M X N size (S17), if resultant image data are less than base pixel group unit, increase number of processes (S18) and repeatedly S11 step to the Image compounding process of S16 step.
After completing whole resultant image, output to display unit.
The present invention is illustrated with reference to an illustrated embodiment in accompanying drawing, but this is exemplary, and the people that the art has a general knowledge is appreciated that and can carries out various deformation and other embodiments.Therefore, real technical protection scope of the present invention should determine according to the technological thought of registration right.
Claims (11)
1. an image synthesizing device, comprising:
Image input part, intercepts the former imaged image caught from the anterior-posterior-L-R camera of vehicle;
External memory storage, preserves the described former imaged image, question blank and the resultant image that intercept;
Former imaging window generating unit, the base pixel group of setting M X N, analyzes coordinate figure based on described question blank, the beginning coordinate of calculation window and window size according to described coordinate figure;
Internal storage control part, according to described beginning coordinate and described window size, reads described former imaged image by described external memory storage and is saved in internal storage;
Image compounding handling part, to the described former imaged image read by described internal storage, is carried out Image compounding based on described coordinate figure and is generated as described resultant image; And
Image output portion, reads described resultant image by described external memory storage and outputs to display unit.
2. image synthesizing device according to claim 1, described former imaging window generating unit, it is that a group carries out processes pixel that the base pixel of described M X N is gathered.
3. image synthesizing device according to claim 1, described former imaging window generating unit, calculates described window size based on described base pixel group.
4. image synthesizing device according to claim 1, described internal storage control part, is sent to described Image compounding handling part the described coordinate figure equaling the N number of number of M X.
5. an image synthesis method, comprising:
The step of initialization AVM (panorama monitors-Around View Monitoring) system;
All around catching and being saved in the step of external memory storage with 4 former imaged images at vehicle;
Based on base pixel group and the question blank of the M X N read by described external memory storage, the beginning coordinate of calculation window and the step of window size;
The described former imaged image of described for correspondence beginning coordinate and described window size is saved in the step of internal storage;
Synthesize the described former imaged image read by described internal storage, be saved in the step of described external memory storage with resultant image.
6. image synthesis method according to claim 5,
Also comprise the step described resultant image being outputted to display unit.
7. image synthesis method according to claim 5,
It is that a group carries out processes pixel that the base pixel of described M X N is gathered.
8. image synthesis method according to claim 5,
The step of described calculating is the window with described base pixel group unit, analyzes coordinate figure, calculate described beginning coordinate and described window size according to described coordinate figure based on the question blank read by described external memory storage.
9. image synthesis method according to claim 8,
The described step saving as resultant image, saves as the described coordinate figure equaling the N number of number of M X the coordinate figure of described resultant image.
10. image synthesis method according to claim 5,
Described internal storage is SRAM (static random access memory-Static Random AccessMemory).
11. image synthesis methods according to claim 5,
Described external memory storage is nonvolatile memory or DRAM (dynamic random access memory-DynamicRandom Access Memory), accesses in the read operation that happens suddenly (Burst Read Operation) mode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2013-0095714 | 2013-08-13 | ||
| KR20130095714A KR20150019192A (en) | 2013-08-13 | 2013-08-13 | Apparatus and method for composition image for avm system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104378583A true CN104378583A (en) | 2015-02-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410161536.1A Pending CN104378583A (en) | 2013-08-13 | 2014-04-22 | Apparatus and method for composition image for avm system |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20150049196A1 (en) |
| KR (1) | KR20150019192A (en) |
| CN (1) | CN104378583A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105262980A (en) * | 2014-07-10 | 2016-01-20 | 现代摩比斯株式会社 | Around view system and operating method thereof |
| CN108010053A (en) * | 2016-11-02 | 2018-05-08 | Lg电子株式会社 | Apparatus and method, vehicle and the computer-readable recording medium of panoramic view picture are provided |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102406513B1 (en) * | 2017-09-21 | 2022-06-15 | 현대자동차주식회사 | Image transforming System and Method for transforming Image |
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- 2013-08-13 KR KR20130095714A patent/KR20150019192A/en not_active Application Discontinuation
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- 2014-04-22 CN CN201410161536.1A patent/CN104378583A/en active Pending
- 2014-08-12 US US14/457,532 patent/US20150049196A1/en not_active Abandoned
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| CN105262980A (en) * | 2014-07-10 | 2016-01-20 | 现代摩比斯株式会社 | Around view system and operating method thereof |
| CN108010053A (en) * | 2016-11-02 | 2018-05-08 | Lg电子株式会社 | Apparatus and method, vehicle and the computer-readable recording medium of panoramic view picture are provided |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20150019192A (en) | 2015-02-25 |
| US20150049196A1 (en) | 2015-02-19 |
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